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Piotr Dec 2023-08-16 02:47:06 +02:00
parent 0a00d13706
commit 7636428d77
2 changed files with 237 additions and 0 deletions
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app/main.py Normal file
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import time
from enum import Enum
import serial
from numpy import uint8
gps = False
class OutType(Enum):
Off = 0x00
Lane = 0x01
LongerLane = 0x02
LeftRoundabout = 0x04
RightRoundabout = 0x08
Flag = 0x40
ArrowOnly = 0x80
class OutAngle(Enum):
Down = 0x01
SharpRight = 0x02
Right = 0x04
EasyRight = 0x08
Straight = 0x10
EasyLeft = 0x20
Left = 0x40
SharpLeft = 0x80
LeftDown = 0x81
RightDown = 0x82
AsDirection = 0x00
class Unit(Enum):
Any = 0
Metres = 1
Kilometres = 3
Miles = 5
Foot = 8
class Lane(Enum):
DotsRight = 0x01
OuterRight = 0x02
MiddleRight = 0x04
InnerRight = 0x08
InnerLeft = 0x10
MiddleLeft = 0x20
OuterLeft = 0x40
DotsLeft = 0x80
class Controller:
def __init__(self):
self.gps = False
self.ser = None#serial.Serial('COM9', 9600)
time.sleep(2)
# print(self.ser.read_all())
def clear(self):
self.send_hud([0x03, 0, 0, 0, 0x00, 0, 0])
def _as_dgt(self, n: int) -> int:
if n == 0:
return 0
n %= 10
return 10 if n == 0 else n
def set_lines(self, outlines: list, arrows: list):
self.send_hud([0x02, sum([lane.value for lane in outlines]), sum([lane.value for lane in arrows])])
def set_direction(self, angle: OutAngle, out: OutType = OutType.Lane, roundabout: OutAngle = OutAngle.AsDirection):
if angle == OutAngle.LeftDown:
param_1 = 0x10
elif angle == OutAngle.RightDown:
param_1 = 0x20
else:
param_1 = out.value
if out == OutType.RightRoundabout or out == OutType.LeftRoundabout:
param_2 = angle.value if roundabout == OutAngle.AsDirection else roundabout.value
else:
param_2 = 0x00
param_3 = 0x00 if angle == OutAngle.LeftDown or angle == OutAngle.RightDown else angle.value
arr = [0x01, param_1, param_2, param_3]
self.send_hud(arr)
def set_distance(self, distance, unit: Unit = Unit.Any):
arr = [0x03, self._as_dgt(distance // 1000), self._as_dgt(distance // 100), self._as_dgt(distance // 10), 0x00,
self._as_dgt(distance), unit.value]
self.send_hud(arr)
def set_speed(self, speed: int, limit: int = 0, acc: bool = False):
acc_char = 0xff if acc else 0x00
if not self.gps:
self.set_distance(speed)
self.send_hud([0x06, 0, 0, 0, 0, 0, 0, 0, 0, acc_char])
return
if limit > 0:
arr = [0x06, self._as_dgt(speed // 100), self._as_dgt(speed // 10), self._as_dgt(speed), 0xff,
self._as_dgt(limit // 100), self._as_dgt(limit // 10), self._as_dgt(limit),
0xff if speed > limit else 0x00, acc_char]
else:
arr = [0x06, 0x00, 0x00, 0x00, 0x00, self._as_dgt(speed // 100), self._as_dgt(speed // 10),
self._as_dgt(speed), 0x00, acc_char]
self.send_hud(arr)
def set_time(self, hours: int, minutes: int, traffic: bool = False, flag: bool = False):
traffic_char = 0xff if traffic else 0x00
flag_char = 0xff if flag else 0x00
if hours > 99:
arr = [0x05, traffic_char, self._as_dgt(hours // 1000), self._as_dgt(hours // 100), 0x00,
self._as_dgt(hours // 10), self._as_dgt(hours), 0xff, flag_char]
else:
arr = [0x05, traffic_char, self._as_dgt(hours // 10), self._as_dgt(hours), 0xff,
self._as_dgt(minutes // 10), self._as_dgt(minutes), 0x00, flag_char]
self.send_hud(arr)
def set_gps(self, state: bool):
if state:
self.send_hud([0x07, 0x01])
self.gps = state
def set_speed_control(self):
self.send_hud([0x04, 0x01])
def set_compass(self, direction: float):
if direction > 337.5 or direction <= 22.5:
self.set_direction(OutAngle.Straight, OutType.ArrowOnly)
elif 22.5 < direction <= 67.5:
self.set_direction(OutAngle.EasyRight, OutType.ArrowOnly)
elif 67.5 < direction <= 112.5:
self.set_direction(OutAngle.Right, OutType.ArrowOnly)
elif 112.5 < direction <= 157.5:
self.set_direction(OutAngle.SharpRight, OutType.ArrowOnly)
elif 157.5 < direction <= 202.5:
self.set_direction(OutAngle.Down, OutType.ArrowOnly)
elif 202.5 < direction <= 247.5:
self.set_direction(OutAngle.SharpLeft, OutType.ArrowOnly)
elif 247.5 < direction <= 292.5:
self.set_direction(OutAngle.Left, OutType.ArrowOnly)
elif 292.5 < direction <= 337.5:
self.set_direction(OutAngle.EasyLeft, OutType.ArrowOnly)
self.clear()
def send_hud(self, buf: list):
print("buf", buf)
n = len(buf)
chars = []
crc = uint8(0xeb + n + n)
chars.append(0x10)
chars.append(0x7b)
chars.append(n + 6)
if n == 0xa:
chars.append(0x10)
chars.append(n)
chars.append(0x00)
chars.append(0x00)
chars.append(0x00)
chars.append(0x55)
chars.append(0x15)
for char in buf:
crc = uint8(crc + char)
chars.append(char)
if char == 0x10:
chars.append(0x10)
chars.append((-crc) & 0xff)
chars.append(0x10)
chars.append(0x03)
self.send_packet(chars)
def send_packet(self, buff):
print("raw", buff)
encoded = [bytes(chr(char), 'raw_unicode_escape') for char in buff]
print("enc", encoded)
# for char in buff:
# self.ser.write(bytes(chr(char), 'raw_unicode_escape'))
# time.sleep(0.2)
# print(self.ser.read_all())
def test():
c.set_direction(OutAngle.Straight, OutType.Lane)
target = 100
for i in range(10):
c.set_distance(target, Unit.Kilometres)
time.sleep(0.5)
target -= 1
c.set_speed_control()
time.sleep(0.5)
for i in range(10):
c.set_distance(target, Unit.Kilometres)
time.sleep(0.5)
target -= 1
c.set_direction(OutAngle.Right, OutType.LongerLane)
for i in range(10):
c.set_distance(target, Unit.Kilometres)
time.sleep(0.5)
target -= 1
if __name__ == '__main__':
c = Controller()
test()

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from numpy import uint8
def send_hud(buf: list):
n = len(buf)
chars = []
crc = uint8(0xeb + n + n)
chars.append(0x10)
chars.append(0x7b)
chars.append(n + 6)
if n == 0xa:
chars.append(0x10)
chars.append(n)
chars.append(0x00)
chars.append(0x00)
chars.append(0x00)
chars.append(0x55)
chars.append(0x15)
for char in buf:
crc = uint8(crc + char)
chars.append(char)
if char == 0x10:
chars.append(0x10)
chars.append((-crc) & 0xff)
chars.append(0x10)
chars.append(0x03)
print(chars)
print([bytes(chr(char), 'raw_unicode_escape') for char in chars])
send_hud([0x04, 0x01])